Automated Release 85 **NO_CI**

index-all.html

@@ -2498,10 +2498,12 @@ <h2 class="title" id="I:G">G</h2>
 </dd>
 <dt><a href="xbot/common/logic/CalibrationDecider.CalibrationMode.html#GaveUp" class="member-name-link">GaveUp</a> - Enum constant in enum class xbot.common.logic.<a href="xbot/common/logic/CalibrationDecider.CalibrationMode.html" title="enum class in xbot.common.logic">CalibrationDecider.CalibrationMode</a></dt>
 <dd>&nbsp;</dd>
-<dt><a href="xbot/common/trajectory/LowResField.html#generatePath(edu.wpi.first.math.geometry.Pose2d,xbot.common.trajectory.XbotSwervePoint)" class="member-name-link">generatePath(Pose2d, XbotSwervePoint)</a> - Method in class xbot.common.trajectory.<a href="xbot/common/trajectory/LowResField.html" title="class in xbot.common.trajectory">LowResField</a></dt>
+<dt><a href="xbot/common/trajectory/LowResField.html#generatePath(edu.wpi.first.math.geometry.Pose2d,edu.wpi.first.math.geometry.Pose2d)" class="member-name-link">generatePath(Pose2d, Pose2d)</a> - Method in class xbot.common.trajectory.<a href="xbot/common/trajectory/LowResField.html" title="class in xbot.common.trajectory">LowResField</a></dt>
 <dd>
 <div class="block">Generates a path from the current position to the target point, avoiding known obstacles.</div>
 </dd>
+<dt><a href="xbot/common/trajectory/ProvidesWaypoints.html#generatePath(edu.wpi.first.math.geometry.Pose2d,edu.wpi.first.math.geometry.Pose2d)" class="member-name-link">generatePath(Pose2d, Pose2d)</a> - Method in interface xbot.common.trajectory.<a href="xbot/common/trajectory/ProvidesWaypoints.html" title="interface in xbot.common.trajectory">ProvidesWaypoints</a></dt>
+<dd>&nbsp;</dd>
 <dt><a href="xbot/common/trajectory/XbotSwervePoint.html#generateTrajectory(java.util.List)" class="member-name-link">generateTrajectory(List&lt;XbotSwervePoint&gt;)</a> - Static method in class xbot.common.trajectory.<a href="xbot/common/trajectory/XbotSwervePoint.html" title="class in xbot.common.trajectory">XbotSwervePoint</a></dt>
 <dd>&nbsp;</dd>
 <dt><a href="edu/wpi/first/wpilibj/MockDigitalOutput.html#get()" class="member-name-link">get()</a> - Method in class edu.wpi.first.wpilibj.<a href="edu/wpi/first/wpilibj/MockDigitalOutput.html" title="class in edu.wpi.first.wpilibj">MockDigitalOutput</a></dt>
@@ -5796,6 +5798,8 @@ <h2 class="title" id="I:P">P</h2>
 <dd>&nbsp;</dd>
 <dt><a href="xbot/common/trajectory/ProvidesInterpolationData.html" class="type-name-link" title="interface in xbot.common.trajectory">ProvidesInterpolationData</a> - Interface in <a href="xbot/common/trajectory/package-summary.html">xbot.common.trajectory</a></dt>
 <dd>&nbsp;</dd>
+<dt><a href="xbot/common/trajectory/ProvidesWaypoints.html" class="type-name-link" title="interface in xbot.common.trajectory">ProvidesWaypoints</a> - Interface in <a href="xbot/common/trajectory/package-summary.html">xbot.common.trajectory</a></dt>
+<dd>&nbsp;</dd>
 <dt><a href="xbot/common/subsystems/drive/PurePursuitCommand.html" class="type-name-link" title="class in xbot.common.subsystems.drive">PurePursuitCommand</a> - Class in <a href="xbot/common/subsystems/drive/package-summary.html">xbot.common.subsystems.drive</a></dt>
 <dd>&nbsp;</dd>
 <dt><a href="xbot/common/subsystems/drive/PurePursuitCommand.html#%3Cinit%3E(xbot.common.subsystems.drive.control_logic.HeadingModule.HeadingModuleFactory,xbot.common.subsystems.pose.BasePoseSubsystem,xbot.common.subsystems.drive.BaseDriveSubsystem,xbot.common.properties.PropertyFactory)" class="member-name-link">PurePursuitCommand(HeadingModule.HeadingModuleFactory, BasePoseSubsystem, BaseDriveSubsystem, PropertyFactory)</a> - Constructor for class xbot.common.subsystems.drive.<a href="xbot/common/subsystems/drive/PurePursuitCommand.html" title="class in xbot.common.subsystems.drive">PurePursuitCommand</a></dt>
@@ -6537,6 +6541,8 @@ <h2 class="title" id="I:S">S</h2>
 <dd>&nbsp;</dd>
 <dt><a href="xbot/common/controls/sensors/XEncoder.html#setDistancePerPulseSupplier(java.util.function.Supplier)" class="member-name-link">setDistancePerPulseSupplier(Supplier&lt;Double&gt;)</a> - Method in class xbot.common.controls.sensors.<a href="xbot/common/controls/sensors/XEncoder.html" title="class in xbot.common.controls.sensors">XEncoder</a></dt>
 <dd>&nbsp;</dd>
+<dt><a href="xbot/common/trajectory/SwerveSimpleTrajectoryLogic.html#setDistanceThresholdToPrioritizeRotation(double)" class="member-name-link">setDistanceThresholdToPrioritizeRotation(double)</a> - Method in class xbot.common.trajectory.<a href="xbot/common/trajectory/SwerveSimpleTrajectoryLogic.html" title="class in xbot.common.trajectory">SwerveSimpleTrajectoryLogic</a></dt>
+<dd>&nbsp;</dd>
 <dt><a href="xbot/common/subsystems/drive/PurePursuitCommand.html#setDotProductDrivingEnabled(boolean)" class="member-name-link">setDotProductDrivingEnabled(boolean)</a> - Method in class xbot.common.subsystems.drive.<a href="xbot/common/subsystems/drive/PurePursuitCommand.html" title="class in xbot.common.subsystems.drive">PurePursuitCommand</a></dt>
 <dd>&nbsp;</dd>
 <dt><a href="xbot/common/properties/DatabaseStorageBase.html#setDouble(java.lang.String,double)" class="member-name-link">setDouble(String, double)</a> - Method in class xbot.common.properties.<a href="xbot/common/properties/DatabaseStorageBase.html" title="class in xbot.common.properties">DatabaseStorageBase</a></dt>
@@ -6619,8 +6625,6 @@ <h2 class="title" id="I:S">S</h2>
  on the bottom-left vertex of the rectangular FRC field if viewed from above with your alliance
  driver station at the bottom), then we need to shift X,Y coordinates to get everything to line up.</div>
 </dd>
-<dt><a href="xbot/common/trajectory/SwerveSimpleTrajectoryLogic.html#setFieldWithObstacles(xbot.common.trajectory.LowResField)" class="member-name-link">setFieldWithObstacles(LowResField)</a> - Method in class xbot.common.trajectory.<a href="xbot/common/trajectory/SwerveSimpleTrajectoryLogic.html" title="class in xbot.common.trajectory">SwerveSimpleTrajectoryLogic</a></dt>
-<dd>&nbsp;</dd>
 <dt><a href="xbot/common/controls/actuators/XDoubleSolenoid.html#setForward()" class="member-name-link">setForward()</a> - Method in class xbot.common.controls.actuators.<a href="xbot/common/controls/actuators/XDoubleSolenoid.html" title="class in xbot.common.controls.actuators">XDoubleSolenoid</a></dt>
 <dd>&nbsp;</dd>
 <dt><a href="xbot/common/controls/actuators/XRelay.html#setForward()" class="member-name-link">setForward()</a> - Method in class xbot.common.controls.actuators.<a href="xbot/common/controls/actuators/XRelay.html" title="class in xbot.common.controls.actuators">XRelay</a></dt>
@@ -6985,6 +6989,8 @@ <h2 class="title" id="I:S">S</h2>
 <dd>
 <div class="block">Sets the prefix for all properties created by this factory.</div>
 </dd>
+<dt><a href="xbot/common/trajectory/SwerveSimpleTrajectoryLogic.html#setPrioritizeRotationIfCloseToGoal(boolean)" class="member-name-link">setPrioritizeRotationIfCloseToGoal(boolean)</a> - Method in class xbot.common.trajectory.<a href="xbot/common/trajectory/SwerveSimpleTrajectoryLogic.html" title="class in xbot.common.trajectory">SwerveSimpleTrajectoryLogic</a></dt>
+<dd>&nbsp;</dd>
 <dt><a href="xbot/common/controls/actuators/mock_adapters/MockCANTalon.html#setPulseWidthRiseToFallUs(int)" class="member-name-link">setPulseWidthRiseToFallUs(int)</a> - Method in class xbot.common.controls.actuators.mock_adapters.<a href="xbot/common/controls/actuators/mock_adapters/MockCANTalon.html" title="class in xbot.common.controls.actuators.mock_adapters">MockCANTalon</a></dt>
 <dd>&nbsp;</dd>
 <dt><a href="edu/wpi/first/wpilibj/MockDigitalOutput.html#setPWMRate(double)" class="member-name-link">setPWMRate(double)</a> - Method in class edu.wpi.first.wpilibj.<a href="edu/wpi/first/wpilibj/MockDigitalOutput.html" title="class in edu.wpi.first.wpilibj">MockDigitalOutput</a></dt>
@@ -7411,6 +7417,8 @@ <h2 class="title" id="I:S">S</h2>
 <dd>&nbsp;</dd>
 <dt><a href="xbot/common/controls/sensors/XAnalogDistanceSensor.html#setVoltageOffset(double)" class="member-name-link">setVoltageOffset(double)</a> - Method in class xbot.common.controls.sensors.<a href="xbot/common/controls/sensors/XAnalogDistanceSensor.html" title="class in xbot.common.controls.sensors">XAnalogDistanceSensor</a></dt>
 <dd>&nbsp;</dd>
+<dt><a href="xbot/common/trajectory/SwerveSimpleTrajectoryLogic.html#setWaypointRouter(xbot.common.trajectory.ProvidesWaypoints)" class="member-name-link">setWaypointRouter(ProvidesWaypoints)</a> - Method in class xbot.common.trajectory.<a href="xbot/common/trajectory/SwerveSimpleTrajectoryLogic.html" title="class in xbot.common.trajectory">SwerveSimpleTrajectoryLogic</a></dt>
+<dd>&nbsp;</dd>
 <dt><a href="xbot/common/subsystems/drive/BaseSwerveDriveSubsystem.html#setWheelsToXMode()" class="member-name-link">setWheelsToXMode()</a> - Method in class xbot.common.subsystems.drive.<a href="xbot/common/subsystems/drive/BaseSwerveDriveSubsystem.html" title="class in xbot.common.subsystems.drive">BaseSwerveDriveSubsystem</a></dt>
 <dd>&nbsp;</dd>
 <dt><a href="xbot/common/controls/sensors/mock_adapters/MockFTCGamepad.html#setX(double)" class="member-name-link">setX(double)</a> - Method in class xbot.common.controls.sensors.mock_adapters.<a href="xbot/common/controls/sensors/mock_adapters/MockFTCGamepad.html" title="class in xbot.common.controls.sensors.mock_adapters">MockFTCGamepad</a></dt>

overview-tree.html

@@ -221,7 +221,7 @@ <h2 title="Class Hierarchy">Class Hierarchy</h2>
 <li class="circle">xbot.common.logic.<a href="xbot/common/logic/Latch.html" class="type-name-link" title="class in xbot.common.logic">Latch</a></li>
 <li class="circle">xbot.common.controls.sensors.wpi_adapters.<a href="xbot/common/controls/sensors/wpi_adapters/LidarLiteWpiAdapter.LidarLiteWpiAdapterFactory.html" class="type-name-link" title="class in xbot.common.controls.sensors.wpi_adapters">LidarLiteWpiAdapter.LidarLiteWpiAdapterFactory</a> (implements xbot.common.controls.sensors.<a href="xbot/common/controls/sensors/XLidarLite.XLidarLiteFactory.html" title="interface in xbot.common.controls.sensors">XLidarLite.XLidarLiteFactory</a>)</li>
 <li class="circle">xbot.common.logging.<a href="xbot/common/logging/LoggingLatch.html" class="type-name-link" title="class in xbot.common.logging">LoggingLatch</a></li>
-<li class="circle">xbot.common.trajectory.<a href="xbot/common/trajectory/LowResField.html" class="type-name-link" title="class in xbot.common.trajectory">LowResField</a></li>
+<li class="circle">xbot.common.trajectory.<a href="xbot/common/trajectory/LowResField.html" class="type-name-link" title="class in xbot.common.trajectory">LowResField</a> (implements xbot.common.trajectory.<a href="xbot/common/trajectory/ProvidesWaypoints.html" title="interface in xbot.common.trajectory">ProvidesWaypoints</a>)</li>
 <li class="circle">xbot.common.math.<a href="xbot/common/math/MathUtils.html" class="type-name-link" title="class in xbot.common.math">MathUtils</a></li>
 <li class="circle">xbot.common.controls.sensors.mock_adapters.<a href="xbot/common/controls/sensors/mock_adapters/MockAbsoluteEncoder.MockAbsoluteEncoderFactory.html" class="type-name-link" title="class in xbot.common.controls.sensors.mock_adapters">MockAbsoluteEncoder.MockAbsoluteEncoderFactory</a> (implements xbot.common.controls.sensors.<a href="xbot/common/controls/sensors/XAbsoluteEncoder.XAbsoluteEncoderFactory.html" title="interface in xbot.common.controls.sensors">XAbsoluteEncoder.XAbsoluteEncoderFactory</a>)</li>
 <li class="circle">edu.wpi.first.wpilibj.<a href="edu/wpi/first/wpilibj/MockAnalogInput.MockAnalogInputFactory.html" class="type-name-link" title="class in edu.wpi.first.wpilibj">MockAnalogInput.MockAnalogInputFactory</a> (implements xbot.common.controls.sensors.<a href="xbot/common/controls/sensors/XAnalogInput.XAnalogInputFactory.html" title="interface in xbot.common.controls.sensors">XAnalogInput.XAnalogInputFactory</a>)</li>
@@ -646,6 +646,7 @@ <h2 title="Interface Hierarchy">Interface Hierarchy</h2>
 </li>
 <li class="circle">xbot.common.math.<a href="xbot/common/math/MovingAverage.SumFunction.html" class="type-name-link" title="interface in xbot.common.math">MovingAverage.SumFunction</a>&lt;T&gt;</li>
 <li class="circle">xbot.common.trajectory.<a href="xbot/common/trajectory/ProvidesInterpolationData.html" class="type-name-link" title="interface in xbot.common.trajectory">ProvidesInterpolationData</a></li>
+<li class="circle">xbot.common.trajectory.<a href="xbot/common/trajectory/ProvidesWaypoints.html" class="type-name-link" title="interface in xbot.common.trajectory">ProvidesWaypoints</a></li>
 <li class="circle">xbot.common.math.<a href="xbot/common/math/PurePursuitTest.AsyncLinearIntervalJob.html" class="type-name-link" title="interface in xbot.common.math">PurePursuitTest.AsyncLinearIntervalJob</a></li>
 <li class="circle">xbot.common.command.<a href="xbot/common/command/SmartDashboardCommandPutter.html" class="type-name-link" title="interface in xbot.common.command">SmartDashboardCommandPutter</a></li>
 <li class="circle">xbot.common.command.<a href="xbot/common/command/SupportsSetpointLock.html" class="type-name-link" title="interface in xbot.common.command">SupportsSetpointLock</a></li>

xbot/common/trajectory/LowResField.html

@@ -76,9 +76,14 @@ <h1 title="Class LowResField" class="title">Class LowResField</h1>
 <div class="inheritance">xbot.common.trajectory.LowResField</div>
 </div>
 <section class="class-description" id="class-description">
+<dl class="notes">
+<dt>All Implemented Interfaces:</dt>
+<dd><code><a href="ProvidesWaypoints.html" title="interface in xbot.common.trajectory">ProvidesWaypoints</a></code></dd>
+</dl>
 <hr>
 <div class="type-signature"><span class="modifiers">public class </span><span class="element-name type-name-label">LowResField</span>
-<span class="extends-implements">extends <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html" title="class or interface in java.lang" class="external-link">Object</a></span></div>
+<span class="extends-implements">extends <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html" title="class or interface in java.lang" class="external-link">Object</a>
+implements <a href="ProvidesWaypoints.html" title="interface in xbot.common.trajectory">ProvidesWaypoints</a></span></div>
 <div class="block">Represents a simple version of the field, with Axis-Aligned Bounding Boxes representing no-go zones due to obstacles.</div>
 </section>
 <section class="summary">
@@ -113,8 +118,8 @@ <h2>Method Summary</h2>
 <div class="block">Adds an obstacle to the field.</div>
 </div>
 <div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/util/List.html" title="class or interface in java.util" class="external-link">List</a>&lt;<a href="XbotSwervePoint.html" title="class in xbot.common.trajectory">XbotSwervePoint</a>&gt;</code></div>
-<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#generatePath(edu.wpi.first.math.geometry.Pose2d,xbot.common.trajectory.XbotSwervePoint)" class="member-name-link">generatePath</a><wbr>(edu.wpi.first.math.geometry.Pose2d&nbsp;currentPose,
- <a href="XbotSwervePoint.html" title="class in xbot.common.trajectory">XbotSwervePoint</a>&nbsp;targetPoint)</code></div>
+<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#generatePath(edu.wpi.first.math.geometry.Pose2d,edu.wpi.first.math.geometry.Pose2d)" class="member-name-link">generatePath</a><wbr>(edu.wpi.first.math.geometry.Pose2d&nbsp;currentPose,
+ edu.wpi.first.math.geometry.Pose2d&nbsp;targetPoint)</code></div>
 <div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
 <div class="block">Generates a path from the current position to the target point, avoiding known obstacles.</div>
 </div>
@@ -172,13 +177,15 @@ <h3>getObstacles</h3>
 </section>
 </li>
 <li>
-<section class="detail" id="generatePath(edu.wpi.first.math.geometry.Pose2d,xbot.common.trajectory.XbotSwervePoint)">
+<section class="detail" id="generatePath(edu.wpi.first.math.geometry.Pose2d,edu.wpi.first.math.geometry.Pose2d)">
 <h3>generatePath</h3>
 <div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type"><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/util/List.html" title="class or interface in java.util" class="external-link">List</a>&lt;<a href="XbotSwervePoint.html" title="class in xbot.common.trajectory">XbotSwervePoint</a>&gt;</span>&nbsp;<span class="element-name">generatePath</span><wbr><span class="parameters">(edu.wpi.first.math.geometry.Pose2d&nbsp;currentPose,
- <a href="XbotSwervePoint.html" title="class in xbot.common.trajectory">XbotSwervePoint</a>&nbsp;targetPoint)</span></div>
+ edu.wpi.first.math.geometry.Pose2d&nbsp;targetPoint)</span></div>
 <div class="block">Generates a path from the current position to the target point, avoiding known obstacles.
  Very generally, it will recursively solve paths nearby the target, and then step foward to approach the target.</div>
 <dl class="notes">
+<dt>Specified by:</dt>
+<dd><code><a href="ProvidesWaypoints.html#generatePath(edu.wpi.first.math.geometry.Pose2d,edu.wpi.first.math.geometry.Pose2d)">generatePath</a></code>&nbsp;in interface&nbsp;<code><a href="ProvidesWaypoints.html" title="interface in xbot.common.trajectory">ProvidesWaypoints</a></code></dd>
 <dt>Parameters:</dt>
 <dd><code>currentPose</code> - Starting point</dd>
 <dd><code>targetPoint</code> - Terminating Point</dd>